// Copyright (c) 2008, Willow Garage, Inc.
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#pragma once

#include <algorithm>
#include <limits>
#include <cmath>
#include <vector>

namespace astra_camera {

// Encapsulate differences between processing float and uint16_t depths
template <typename T>
struct DepthTraits {};

template <>
struct DepthTraits<uint16_t> {
  static inline bool valid(uint16_t depth) { return depth != 0; }
  static inline float toMeters(uint16_t depth) {
    return static_cast<float>(depth) * 0.001f;
  }  // originally mm
  static inline uint16_t fromMeters(float depth) { return std::lround(depth * 1000.0f); }
  // Do nothing - already zero-filled
  static inline void initializeBuffer(std::vector<uint8_t> &buffer) { (void)buffer; }
};

template <>
struct DepthTraits<float> {
  static inline bool valid(float depth) { return std::isfinite(depth); }
  static inline float toMeters(float depth) { return depth; }
  static inline float fromMeters(float depth) { return depth; }

  static inline void initializeBuffer(std::vector<uint8_t> &buffer) {
    auto start = reinterpret_cast<float *>(&buffer[0]);
    auto end = reinterpret_cast<float *>(&buffer[0] + buffer.size());
    std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
  }
};

}  // namespace astra_camera
